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利用柔性机械臂主动控制实验装置以及相应的动力学参数测试系统 ,采用光电编码器、加速度计和应变片分别检测柔性臂的大范围运动、末端振动及驱动力矩 ,对柔性机械臂结构 -控制耦合特性进行了研究。实验结果发现 :1)由于结构与控制系统的耦合 ,改变了柔性机械臂的第一阶振动频率 ;2 )在实现规定运动时 ,不同结构的柔性机械臂的驱动力矩形式明显不同 ;3)柔性机械臂的驱动力矩具有随伺服驱动系统工频的脉动现象。验证了柔性机械臂结构与控制系统之间存在相互作用 ;指出采取结构 -控制一体化设计方法是提高柔性机械臂性能的一个重要手段。
Using the flexible manipulator active control experimental device and the corresponding dynamic parameter test system, the photoelectric actuator, accelerometer and strain gauge were used to detect the large-scale motion, the terminal vibration and the driving torque of flexible manipulator respectively. Characteristics have been studied. The experimental results show that: 1) the first order vibration frequency of the flexible manipulator is changed due to the coupling of the structure and the control system; 2) the driving torque forms of the flexible manipulator with different structures are obviously different when the prescribed movement is realized; 3) The driving torque of the arm has pulsation phenomenon with servo drive system power frequency. The interaction between the structure of flexible manipulator and the control system is verified. It is pointed out that the structural-control integrated design method is an important means to improve the performance of flexible manipulator.